@inproceedings{ec472f6dae7c421b8ad1d8a1dde83fb2,
title = "Robust navigation techniques for the GVG-based slam in unstructured environment",
abstract = "The Generalized Voronoi Graph (GVG) has been effectively used for the SLAM and navigation of mobile robots. Since the mobile robot should perform the GVG-based SLAM and navigation in unstructured environments using inaccurate noisy sensors, it requires accurate data association and robust navigation techniques. in this paper, we suggest three techniques for a robust construction of the GVG. The first one is a robust node matching technique and the second one is an adaptable sensor area matching method for the robust exploration. Finally we propose a technique which is capable of distinguishing between closely located nodes. The simulation results show that the proposed algorithm can work successfully under 20% errors of odometry and range sensor in unstructured environment.",
keywords = "Generalized Voronoi Graph (GVG), Mobile robots, Node matching, Topological localization",
author = "Sunghwan Ahn and Doh, {Nakju Lett} and Chung, {Wan Kyun}",
note = "Funding Information: 1 This research was supported by the National Research Laboratory (NRL) Program(M1-0302-00-0040) of the Ministry of Science & Technology, Republic of Korea. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.",
year = "2005",
doi = "10.3182/20050703-6-cz-1902.01347",
language = "English",
isbn = "008045108X",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "463--468",
booktitle = "Proceedings of the 16th IFAC World Congress, IFAC 2005",
}